WO2001089911A1 - Dispositif de commande pour systeme de direction d'un vehicule a moteur - Google Patents

Dispositif de commande pour systeme de direction d'un vehicule a moteur Download PDF

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Publication number
WO2001089911A1
WO2001089911A1 PCT/JP2001/003982 JP0103982W WO0189911A1 WO 2001089911 A1 WO2001089911 A1 WO 2001089911A1 JP 0103982 W JP0103982 W JP 0103982W WO 0189911 A1 WO0189911 A1 WO 0189911A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
motor
power steering
torque
electric power
Prior art date
Application number
PCT/JP2001/003982
Other languages
English (en)
Japanese (ja)
Inventor
Shuji Endo
Original Assignee
Nsk Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nsk Ltd. filed Critical Nsk Ltd.
Priority to US10/048,010 priority Critical patent/US6751538B2/en
Priority to GB0201821A priority patent/GB2367543B/en
Priority to DE10192088T priority patent/DE10192088B4/de
Publication of WO2001089911A1 publication Critical patent/WO2001089911A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0472—Controlling the motor for damping vibrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input

Definitions

  • the present invention relates to a control device of an electric power steering device that applies a steering assist force by motor to a steering system of an automobile or a vehicle, and particularly obtains a desired complementary sensitivity function and adjusts the desired complementary sensitivity function.
  • the present invention relates to a control device for an electric power steering device in which a mechanical system and a control system are designed.
  • An electric power steering device that urges a steering device of an automobile or a vehicle with an auxiliary load by the rotational force of a motor uses a transmission mechanism such as a gear or a belt through a speed reducer to transmit the driving force of the motor to a steering shaft or a rack shaft.
  • the auxiliary load is urged.
  • Such a conventional electric power steering apparatus performs feedback control of the motor current in order to accurately generate an assist torque (steering assist torque).
  • Feedback control adjusts the voltage applied to the motor so that the difference between the current control value and the motor current detection value becomes smaller.Adjustment of the motor applied voltage is generally performed by PWM (pulse width modulation). This is done by adjusting the control duty ratio.
  • the shaft of the steering wheel is connected to the tie rod of the traveling wheel via a torsion bar, a reduction gear, a universal joint, and the like.
  • a torque sensor that detects the steering torque of the steering wheel is provided on the shaft of the steering wheel.
  • a motor that assists the steering force of the steering wheel is connected to the shaft via a clutch (not shown) and a reduction gear.
  • Power is supplied from a battery to a control unit (ECU) that controls the power steering device via an ignition key (not shown).
  • the control unit uses a steering torque T detected by a torque sensor and a vehicle speed sensor (not shown).
  • the steering assist command value I of the assist command is calculated on the basis of the vehicle speed V detected in step (1), and the current supplied to the motor is controlled based on the calculated steering assist command value I.
  • SAT indicates the self-lining torque.
  • the control unit is mainly composed of a CPU.
  • the general functions executed by a program inside the CPU are shown in Fig. 29.
  • the steering torque T detected and input by the torque sensor 10 is phase-compensated by the phase compensator 31 in order to enhance the stability of the steering system.
  • the calculated steering torque TA is input to the steering assist command value calculator 32.
  • the vehicle speed V detected by the vehicle speed sensor 12 is also input to the steering assist command value calculator 32.
  • the steering assist command value calculator 32 determines a steering assist command value I that is a control target value of the current supplied to the motor 20 based on the input steering torque TA and the vehicle speed V.
  • I is input to the subtractor 3 OA, and is also input to a feedforward differential compensator 34 for improving the response speed.
  • the deviation (I-i) of the subtractor 30A is calculated by the proportional calculator 35 And feed This signal is input to an integration calculator 36 for improving the characteristics of the back system.
  • the outputs of the differential compensator 34 and the integral compensator 36 are also added to the adder 30B, and the current control value E, which is the result of the addition in the adder 30B, is used as the motor drive signal. Input to circuit 37.
  • the motor current value i of the motor 20 is detected by the motor current detection circuit 38, and the motor current value i is input to the subtractor 30A and fed back.
  • FIG. 30 A block diagram based on the transfer function of such an electric power steering device is shown in FIG. 30, and “s” indicates a Laplace operator.
  • electric power steering has the advantage that it is possible to process and transmit information from the road surface so that the driver can easily drive, making use of the design flexibility. From Fig. 28 and Fig. 30, it can be seen that sensitivity design for road surface information can be treated as an issue of how to define the desired transfer characteristics from road surface input to steering torque.
  • the present invention has been made under the circumstances described above, and an object of the present invention is to provide a control device for an electric power steering device in which a desired complementary sensitivity function is obtained and a control system is designed in accordance with the complementary sensitivity function. Is to do. Disclosure of the invention
  • the present invention relates to a motor control device that applies a steering assist force to a steering mechanism based on a current control value calculated from a steering assist command value calculated based on a steering torque generated on a steering shaft and a motor current value.
  • the object of the present invention is to make the complementary sensitivity function with respect to frequency approach 1 in a band where disturbance to be suppressed exists, so that the disturbance to be transmitted exists. This is achieved by setting them closer to zero in the given band.
  • the characteristic value of the power steering device, the characteristic value of the suspension, the natural vibration region and the torque ripple region of the motor are included in the band where the disturbance to be suppressed exists, or the characteristic value of the power steering device is included. 10 to 13 Hz, the eigenvalue of the suspension is 13 to 17 Hz, the vibration region is 15 to 25 Hz, and the torque ripple region of the motor is 15 to 30 Hz.
  • FIG. 1 is a characteristic diagram showing a desirable complementary sensitivity function
  • FIG. FIG. 3 is a frequency response diagram showing motor characteristics
  • FIG. 4 is a diagram showing a tuning example of a transfer characteristic from road surface input to steering torque
  • FIG. Fig. 5 shows a measurement example of steering torque when traveling on a Belgian road (hydraulic type)
  • Fig. 6 shows a measurement example of steering torque when traveling on a Belgian road (electric type).
  • FIG. 7 is a diagram showing an example of steering characteristics when traveling at 100 KmZh
  • FIG. 8 is a mechanical diagram of a rolling rack and pinion used in the present invention.
  • Fig. 9 is a diagram showing an example of the characteristics of the mechanism of Fig. 7 in comparison with a conventional device.
  • Fig. 9 is a diagram showing an example of the characteristics of the mechanism of Fig. 7 in comparison with a conventional device.
  • FIG. 10 is a mechanism diagram of a conventional rolling rack and pinion.
  • Fig. 11 is a motor and reduction gear.
  • Fig. 12 is a mechanism diagram of the worm shaft support.
  • FIG. 13 is a diagram showing characteristics when rubber is mounted on the worm shaft support, and
  • FIG. 14 is a sectional mechanism diagram of a torque sensor used in the present invention.
  • FIG. 15 is a perspective view of a torque sensor used in the present invention
  • FIG. 16 is a block diagram showing a configuration example of an electric power steering device of the present invention
  • FIG. FIG. 18 is a block diagram of an improvement unit
  • FIG. 18 is a diagram showing a characteristic example of a phase compensating unit
  • FIG. 19 is a diagram showing a characteristic example of an approximate differentiating unit
  • FIG. 21 is a diagram illustrating a combined characteristic of a compensating unit and an approximate differentiating unit.
  • FIG. 21 is a diagram illustrating a setting example of a gain based on a vehicle speed and a steering torque.
  • FIG. 23 shows an example of the vehicle speed interpolation calculation, and
  • FIG. 24 shows a configuration example of the torque control calculation.
  • FIG. 25 is a block diagram showing an example of the characteristics of the robust stabilization compensation
  • FIG. 26 is a diagram showing an example of the characteristics of the control system
  • FIG. 27 is an example of the characteristics of the mechanical system.
  • FIG. 28 is a mechanism diagram showing a general example of an electric power steering
  • FIG. 29 is a block diagram showing a general internal configuration of a control unit
  • FIG. FIG. 4 is a block diagram showing a transfer function.
  • electric power steering With electric power steering, there is an electric motor that is not available in hydraulic power steering while transmitting road surface information to the driver. It has a configuration. On the other hand, electric power steering also has the advantage that unnecessary disturbances can be cut off by the presence of motors.
  • the inventor has been involved in research on electric power steering systems for many years, and found that information from the road surface can be roughly divided into necessary information and information to be suppressed as disturbance as shown in Fig. 1. did. That is, the complementary sensitivity function T (s) for the frequency to which the driver responds is always 1 or less, and the eigenvalue (10 Hz to 13 Hz) of the electric power steering device is changed from the eigenvalue (13 Hz) of the suspension.
  • the electric power steering device can be designed in the frequency domain, it is possible to separately solve the trade-off problem in the frequency domain of the complementary sensitivity function in FIG. In other words, good steering can suppress unnecessary disturbances and transmit necessary disturbances to the steering wheel.
  • conventional hydraulic power steering addresses this problem by adjusting the friction of the steering system, but cannot satisfy both at the same time.
  • the transfer characteristics from the road surface to the steering wheel can be defined, so that the trade-off problem can be solved in the frequency domain.
  • the complementary sensitivity function T (s) should be close to "1" in the band where the disturbance that wants to suppress the complementary sensitivity function exists, and the complementary sensitivity function T (s) should be close to zero in the region where the disturbance to be transmitted exists.
  • Complementary sensitivity function meter to calculate the transfer characteristic up automobile generates a SAT (self-alignment aligning torque) as having a simple spring (spring multiplier K v), constant gain becomes kappa Zeta kappa V monument 2.
  • the complementary sensitivity function is close to 1 in the band where the disturbance to be suppressed exists.
  • FIG. 30 is interpreted as follows.
  • Fig. 30 can be interpreted as a control system that performs control so as to reduce the displacement of the torsion bar. Reducing the displacement of the torsion bar is equivalent to reducing the steering torque from Fig. 30.
  • the control gain K siniffness of the torsion bar
  • the steady-state gain of the controller for electric power steering is a gradient of the assist characteristic. In a small torque region, the steady-state gain is zero.
  • the rigidity of the torsion bar and the controller are combined into a new controller C (s) and the steering system is represented by P (s), it can be simplified to a general control system as shown in Fig. 2.
  • the complementary sensitivity function T (s) is expressed by the equation shown in FIG. 2, where d (s) represents the disturbance coming from the tire, and this disturbance d (s) is the unnecessary disturbance and the characteristics of the vehicle.
  • the purpose of the complementary sensitivity function T (s) is to convey the difference between the simple spring and the actual dynamic characteristics in an appropriate band, and to suppress unnecessary disturbance. Will do.
  • the present invention focuses on the difference between the transmission characteristics from the road surface information to the steering torque and the transmission characteristics from the steering angle to the steering torque.
  • the inertia of the motor is positively used, and the inertia of the motor felt when steering is compensated by the torque control system.
  • the gain diagram in Fig. 3 shows a comparison of the transfer characteristics from the steering angle to the steering torque due to the motor's inertia (high inertia, low inertia). It is clear from the motor frequency response shown in Fig.
  • phase lead characteristic which is the inverse characteristic of the phase lag characteristic. It can be compensated by the torque control system.
  • the characteristic A of the phase diagram in FIG. 3 is a case without compensation, and the characteristic B is a case where compensation is performed.
  • the road surface information When designing the road surface sensitivity, the road surface information must first be detected by the torque sensor. In other words, it is designed to prevent the motor from blocking the road surface information, and is designed so that the complementary sensitivity function of the torque control system approaches the characteristic shown in Fig. 1.
  • the road surface information generated by the tires is transmitted by subtracting the friction of each element, and the inertia of the motor works as a mechanical low-pass filter, so if the inertia is large, the road surface information will be attenuated.
  • a general control system design method is applied to ensure sufficient control system stability, and then fine tuning is performed according to the vehicle. This is because human sensitivity is subtle, and ideal characteristics cannot be expressed by transfer characteristics, and general design methods that tend to be conservative cannot respond adequately. For this reason, tuning itself depends on the know-how of tuning engineers.
  • FIGS. 4 to 7 show examples of characteristics of the electric power steering device designed in this way.
  • Fig. 4 shows an example of tuned road surface sensitivity measurement.
  • the thick line indicates the sensitivity (dB), and the thin line indicates the phase (degree).
  • FIGS. 5 and 6 show examples of the measurement of the steering torque when traveling on a Belgian road for the hydraulic type and the electric type, respectively.
  • the steering torque of the hydraulic power steering device fluctuates. Is because vibration of the suspension is detected.
  • Fig. 7 (A) is a measurement example of the steering characteristics (steering angle vs. steering torque) of the hydraulic power steering device when traveling at 100 Km Zh
  • Fig. 7 (B) is 10
  • This is a measurement example of the steering characteristics (steering angle vs. steering torque) of the electric power steering device when traveling at 0 K m Zh.
  • the fluctuation of the steering torque of the hydraulic power steering device is due to the vibration caused by the storm. This is because it has been detected.
  • a pinion shaft is coaxially mounted on the input shaft, and the pinion shaft is connected to the rack shaft.
  • the rack shaft is connected to a pin shaft of a press pad portion in the housing via a roller.
  • the pin shaft is held by a dollar bearing and connected to a coil spring via a friction block.
  • the coil spring is housed in a retainer, and applies a pressing force to the pressure pad portion.
  • the retainer is held energetically by a spring suspended between the inner wall of the housing and the retainer.
  • such rolling type rack Details of the quand pinion are described in Japanese Patent Application Laid-Open No. 2000-159912 by the present applicant.
  • the rolling rack and pinion of the present invention has both high support rigidity and low operating resistance because the pressure pad that supports the pinion is made up of rollers, friction blocks, eddle bearings, cages, etc. it can.
  • the rack thrust is reduced by the friction block installed in the pressure pad. It is characterized by low reverse input in low areas, and is useful for improving road surface information in small steering angle areas that are important for high-speed driving.
  • the conventional mechanism (without friction block) shown in Fig. 10 there is no friction block or the like in the pressure pad section, so the reverse input is high in the region where the rack thrust is low.
  • a rubber damper (rubber) is connected to the spline section via a bush to reduce the rattle noise of the gear, and to reduce the rattling noise of the gear, as shown in Fig. 11. Inserted.
  • the displacement of the motor and the displacement of the column shaft can operate independently, so that road surface information can be transmitted to the handle shaft without being hindered by the friction and inertia of the motor. . Therefore, the design of the sensitivity function of road surface information as shown in Fig. 1 can be realized by this mechanism.
  • the insertion of rubber dampers causes the controlled object to have dynamic characteristics with a low natural frequency, so the configuration of the controller becomes higher.
  • FIG. 14 shows a structure of disposing the non-contact type torque sensor on the steering wheel shaft
  • FIG. 15 shows a partial cross-sectional perspective view of the structure of the sensor unit.
  • a port bin yoke forming a detection circuit unit is disposed on a sleeve.
  • the coil is wound.
  • the sleeve is made of conductive non-magnetic material (for example, aluminum), has windows formed along the annular coil array, and has a torsion bar inside the input shaft.
  • the torque to the input shaft is detected in a non-contact manner using the conductivity and non-magnetism of the sleeve and the magnetic property of the input shaft.
  • a dense state of a magnetic field that is periodic in the circumferential direction is created inside the sleeve by using the skin effect, and the spontaneous magnetization of the input shaft is increased or decreased by the phase difference between the magnetic field and the spline of the input shaft.
  • the resulting impedance change is detected as a coil-end voltage change by a bridge circuit formed by coils and the like.
  • Responsiveness of current control is also an important factor in realizing the sensitivity design of road surface information.
  • the reference model instead of the conventional PI controller based current control, the reference model The current control is linearized by adopting robust control based on.
  • FIG. 16 is a block diagram of the control function according to the present invention.
  • the steering torque T is input to the steering assist command value calculation unit 100 and the sensor response improvement unit 101, and each output is input to the adder 102, and the addition result is used as the torque control calculation unit 10 3 is entered.
  • the output signal of the torque control calculator 103 is input to the motor loss current compensator 104, the output of which is input to the maximum current limiter 106 via the adder 105, and the maximum current value is It is limited and input to the current controller 110.
  • the output of the current control unit 110 is input to the current drive circuit 112 via the H-bridge characteristic compensation unit 111, thereby driving the motor 113.
  • the motor current i of the motor 1 13 is input to the motor angular velocity estimator 1 2 1, the current drive switch 1 2 2 and the current controller 1 1 0 via the motor current offset corrector 1 2 0,
  • the motor terminal voltage Vm is input to the motor angular velocity estimating unit 121.
  • the angular velocity ⁇ estimated by the mooring angular velocity estimating section 1 2 1 is input to the mooring angular acceleration estimating section, the inertia compensating section 123, the mooring loss torque compensating section 124, and the rate estimating section 125.
  • the output of the rate estimator 125 is input to the convergence controller 126, and the outputs of the convergence controller 126 and the motor loss torque compensator 124 are added by the adder 127.
  • the addition result is input to adder 102. Also, a current dither signal generator 130 is provided, and the outputs of the current dither signal generator 130 and the mooring angular acceleration estimator / inertial compensation unit 123 are added by the adder 131. The result of the addition is input to the adder 105.
  • the sensor responsiveness improving unit 101 is provided with a phase compensating unit 101 ⁇ , an approximate differentiating unit 101 ⁇ and a gain setting unit 1. 0 1 C, and the phase compensation unit 101 ⁇ is shown in Fig. 18.
  • the approximate differentiator 101B be the frequency characteristic shown in FIG.
  • the gain setting section 101C the gain is switched and set according to the vehicle speed V and the steering torque T as shown in FIG.
  • the steering torque is dog and the rate of change of the steering torque is large, and the gain is reduced in the case of the steering torque decreasing direction.
  • the gain after switching is, for example, "46" at vehicle speeds 0 to 2, "47" at vehicle speeds 4 to 78, and "41" at vehicle speeds of 80 or more.
  • the assist characteristics based on the three representative vehicle speeds (0, 30 and 254 Km / h) are set as basic characteristics.
  • interpolation is performed between the basic characteristics at every vehicle speed of 2 KmZh according to the vehicle speed interpolation gain.
  • the vehicle speed setting range of the assist characteristics is set to 0 to 25.4 KmZh and the resolution is set to 2 Km / h.
  • the vehicle speed interpolation calculation for other vehicle speeds is performed every 2 KmZh using the vehicle speed (KmZh) versus vehicle speed interpolation coefficient a shown in FIG.
  • the steering torque response is set as the torque control calculation unit 103 in order to stabilize the mechanical system of the electric power steering device, stabilize the vibration by the rubber damper in the reduction gear unit, and adjust the steering feeling.
  • the configuration is as shown in Fig. 24.
  • the responsiveness definition section 103B is provided at the subsequent stage of the clamp circuit 103A, and the mouth bust is provided at the subsequent stage via the clamp circuit 103C.
  • a stabilization compensator 103D is installed.
  • a phase compensator 103F is provided at the subsequent stage of the mouth bust stabilization compensator 103D via the clamp circuit 103E, and further a mouth bust stabilization compensation is provided via the clamp circuit 103G.
  • Section 103H is installed.
  • the characteristics of the mouth bust stabilization compensator 103 H are shown in FIG. 25, and the characteristics of the entire control system are as shown in FIG. Since the characteristics of the mechanical system are as shown in Fig. 27, the peaks and valleys are canceled out overall and the characteristics become almost flat.
  • the setting is made as the tuning of the sense of the sun. Therefore, the compensation value is added so as to have the same sign as the sign of the torque control calculation output, and the compensation value is switched to four stages according to the vehicle speed.
  • a desired complementary sensitivity function is obtained from road surface information, and a mechanical system and a current control system are designed in accordance with the complementary sensitivity function. Therefore, an unnatural steering feeling can be prevented, and comfortable steering can be prevented. Feeling can be obtained.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L'invention concerne un dispositif de commande pour système de direction d'un véhicule à moteur dans lequel le moteur destiné à fournir une force d'assistance de direction à un mécanisme de direction est commandé en fonction d'une valeur de commande d'assistance de direction mise en oeuvre sur la base du couple de direction généré dans l'arbre de direction et de la valeur du courant moteur. Ainsi, pour améliorer les performances de la direction, on conçoit le système mécanique et le système de commande pour qu'ils répondent à une fonction de sensibilité complémentaire voulue, ce qui permet d'obtenir une sensation de direction stabilisée confortable en continu. La fonction de sensibilité complémentaire en termes de fréquence est définie pour avoisiner 1 dans une bande où il existe des parasites à supprimer et pour avoisiner 0 dans une bande où il existe des parasites à transmettre.
PCT/JP2001/003982 2000-05-25 2001-05-14 Dispositif de commande pour systeme de direction d'un vehicule a moteur WO2001089911A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US10/048,010 US6751538B2 (en) 2000-05-25 2001-05-14 Controller for motor power steering system
GB0201821A GB2367543B (en) 2000-05-25 2001-05-14 Control unit for electric power steering apparatus
DE10192088T DE10192088B4 (de) 2000-05-25 2001-05-14 Steuereinheit für eine elektrische Servolenkung

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2000-154284 2000-05-25
JP2000154284A JP3780823B2 (ja) 2000-05-25 2000-05-25 電動パワーステアリング装置の制御装置

Publications (1)

Publication Number Publication Date
WO2001089911A1 true WO2001089911A1 (fr) 2001-11-29

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Application Number Title Priority Date Filing Date
PCT/JP2001/003982 WO2001089911A1 (fr) 2000-05-25 2001-05-14 Dispositif de commande pour systeme de direction d'un vehicule a moteur

Country Status (5)

Country Link
US (1) US6751538B2 (fr)
JP (1) JP3780823B2 (fr)
DE (1) DE10192088B4 (fr)
GB (1) GB2367543B (fr)
WO (1) WO2001089911A1 (fr)

Cited By (2)

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US20110257845A1 (en) * 2009-01-13 2011-10-20 Keitaro Niki Steering control apparatus for vehicle
US11077876B2 (en) 2017-04-06 2021-08-03 Kongsberg Inc. Power steering system and a method of operating same

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JP4581299B2 (ja) * 2001-06-28 2010-11-17 日本精工株式会社 電動パワーステアリング装置の制御装置
JP3947014B2 (ja) * 2002-01-25 2007-07-18 株式会社ジェイテクト 電動パワーステアリング装置
US7242161B2 (en) 2002-09-19 2007-07-10 Nsk, Ltd. Control device for motorized power steering device
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JP4349309B2 (ja) * 2004-09-27 2009-10-21 日産自動車株式会社 車両用操舵制御装置
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JP4573038B2 (ja) * 2005-04-18 2010-11-04 株式会社ジェイテクト 電動パワーステアリング装置
JP4847060B2 (ja) 2005-07-15 2011-12-28 日立オートモティブシステムズ株式会社 交流モータ駆動装置及びその制御方法
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JP2009166715A (ja) * 2008-01-17 2009-07-30 Nsk Ltd 電動パワーステアリング装置
JP5158421B2 (ja) * 2008-02-12 2013-03-06 株式会社ジェイテクト 車両用操舵装置
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CN102171084B (zh) 2008-09-30 2013-12-04 日产自动车株式会社 配置有用于辅助系统操作员的辅助控制器的系统、控制操作辅助装置、控制操作辅助方法、驾驶操作辅助装置和驾驶操作辅助方法
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US8554417B2 (en) * 2009-06-17 2013-10-08 Honda Motor Co., Ltd. Narrow-frequency-band feedback control of steering pinion torque in an electric power steering system
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JP5962312B2 (ja) * 2012-08-03 2016-08-03 株式会社デンソー 電動パワーステアリング制御装置
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JP6138881B2 (ja) * 2015-09-25 2017-05-31 株式会社Ｓｕｂａｒｕ 操舵支援制御装置
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KR102298976B1 (ko) * 2017-09-08 2021-09-06 현대자동차주식회사 동력 조향 시스템의 어시스트 토크 결정 방법
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GB0201821D0 (en) 2002-03-13
JP2001334948A (ja) 2001-12-04
DE10192088T1 (de) 2003-04-03
JP3780823B2 (ja) 2006-05-31
US20030120404A1 (en) 2003-06-26
GB2367543B (en) 2003-08-27
US6751538B2 (en) 2004-06-15
DE10192088B4 (de) 2006-03-02

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